CN110460281B - Three-level permanent magnet synchronous motor double-vector model prediction flux linkage control method - Google Patents
Three-level permanent magnet synchronous motor double-vector model prediction flux linkage control method Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a double-vector model prediction flux linkage control method of a three-level permanent magnet synchronous motor, which comprises the steps of firstly obtaining three-phase current, a rotor electrical angle, a rotor electrical angular speed and given rotation and reference flux linkages at a moment k; then calculating load angle increment and a load angle reference value at the moment k +1, acquiring a reference component of a flux linkage dq axis at the moment k +1, and judging the position of a reference vector at the moment k +1 to select an interval; then, calculating a prediction component of a flux linkage dq axis at the moment of k +1, and selecting a voltage vector which enables a cost function to be minimum through the cost function; then carrying out neutral point potential balance processing to select an optimal voltage vector; and finally, calculating the duty ratio of the optimal voltage vector, and outputting the inverter switching state corresponding to the optimal voltage vector. The method has the advantages that the weight coefficient does not exist in the cost function, the optimization is only carried out from the three voltage vectors, the operation time is reduced, the balance of the midpoint potential is considered, and the torque ripple is effectively reduced through the double-vector effect.
Description
Technical Field
The invention relates to a double-vector model prediction flux linkage control method for a three-level permanent magnet synchronous motor, and belongs to the field of motor driving and control.
Background
The IPMSM (Interior permanent magnet synchronous motor) has the advantages of simple structure, small volume, high efficiency, high power factor and the like, and is widely applied to the fields of metallurgy, ceramics, petroleum, textile, automobiles and the like. The conventional control method for the permanent magnet synchronous motor mainly includes Vector Control (VC) and Direct Torque Control (DTC). The basic idea of vector control is to decompose the stator current of a three-phase alternating current motor into an excitation current component and a torque current component through vector transformation, to enable the two components to be perpendicular to each other and independent of each other, and then to be respectively adjusted to obtain the dynamic characteristics as good as those of a direct current motor, but the problems of complex coordinate transformation, large dependence on motor parameters, difficulty in ensuring complete decoupling and the like exist; the direct torque control scheme abandons the decoupling control idea and the current feedback link in vector control, adopts a stator flux linkage orientation method, has the advantages of simple structure, fast torque response and the like, and also has the defects of poor low-speed performance, high real-time requirement, large calculated amount and the like. Therefore, in order to further improve the control performance of the system, researchers have attracted extensive attention to Model Predictive Torque Control (MPTC).
The MPTC obtains the optimal voltage vector by solving a cost function in real time and an online optimization idea, and can improve the dynamic response performance of a system and reduce torque ripple. Due to the wide prospect of the MPTC strategy in the application field of the permanent magnet synchronous motor, many researchers at home and abroad are dedicated to the improvement and research of the MPTC. However, the conventional MPTC method needs to design a weight coefficient, and the design of the weight coefficient lacks a unified guiding strategy, so a Model Predictive Flux Control (MPFC) is proposed by improving and converting the MPTC strategy, and by converting the simultaneous control of the stator flux and the electromagnetic torque into the control of an equivalent stator flux complex vector, the weight coefficient is eliminated, and the complexity of the algorithm is reduced. However, for the conventional three-level inverter model predictive flux linkage control, the operation burden of the system is greatly increased due to the existence of 27 alternative basic voltage vectors, and meanwhile, due to the adoption of single vector control, larger torque and current ripple also exist, which is unfavorable for the improvement of the system performance.
Disclosure of Invention
The technical problem is as follows: aiming at the prior art, the method for controlling the flux linkage of the three-level permanent magnet synchronous motor through the double-vector model prediction is provided, so that the torque ripple can be effectively reduced, the calculation amount is reduced, and the balance of the midpoint potential is considered.
The technical scheme is as follows: a double-vector model prediction flux linkage control method for a three-level permanent magnet synchronous motor comprises the following steps: firstly, a reference torque T is obtained according to a rotating speed loop PI controllere ref(ii) a Then obtaining the electrical angle theta of the permanent magnet synchronous motor from the encoderrAnd electrical angular velocity ωrAnd obtaining three-phase stator current i at the time ka、ibAnd icObtaining alpha-beta component i of stator current at time k through Clark conversionαAnd iβAnd obtaining a d-q component i of the stator current at the moment k after Park conversiondAnd iq(ii) a Then, a stator flux linkage and torque calculation module is used for acquiring a flux linkage measured value psi at the time ks(k) An included angle delta (k) with the d axis; then, a reference value psi of the flux linkage at the d-q coordinate at the moment k +1 is calculated by a given flux linkage calculation module* d(k+1)、ψ* q(k + 1); then, a predicted value psi of flux linkage at d-q coordinate at moment k +1 is obtained through a stator flux linkage prediction moduled(k+1)、ψq(k + 1); then, obtaining an optimal voltage vector by minimizing a cost function and balancing a midpoint potential; and finally, calculating the optimal voltage vector duty ratio under the condition that the predicted value of the flux linkage reaches the reference value at the moment k + 1.
Further, the reference speed
With the actual speed omegarDifference e ofnAn input rotation speed loop PI controller for obtaining the reference torque T according to the formula (1)e ref；
Wherein k ispAnd kiRespectively, proportional gain and integral gain of the rotating speed PI controller, and s is a complex variable.
Further, the electrical angle theta of the permanent magnet synchronous motor is obtained from the encoderrThen, the electrical angle theta is obtained through the formula (2)rWith respect to the differentiation of time, an electrical angular velocity ω is obtainedr(ii) a Remeasure permanent magnet synchronous motor k moment three-phase stator current ia、ibAnd icObtaining alpha-beta component i of stator current at the moment k after Clark conversion of formula (3)αAnd iβObtaining d-q component i of stator current at the moment k through Park conversion of formula (4)dAnd iq；
Further, the flux linkage measurement value psi at the time ks(k) The method for obtaining the included angle delta (k) between the d axis and the d axis comprises the following steps: firstly, calculating a k time magnetic linkage measurement value psi in d-q coordinates according to formula (5)sd(k) And psisq(k) (ii) a Then, the k time flux linkage measurement value psi under the alpha-beta coordinate is obtained through the inverse Park transformation of the formula (6)sα(k) And psisβ(k) (ii) a Then, the measured value psi of the magnetic linkage at the k moment is obtained according to the formula (7)s(k) Angle theta with alpha axiss(ii) a Finally, the measured value psi of the flux linkage at the time k can be obtained according to the formula (8)s(k) An included angle delta (k) with the d axis;
δ(k)＝θs-θr (8)
wherein L isd、LqD-q axis inductance components, respectively; psifRepresents a permanent magnet flux linkage;
respectively, the current components at the d-q coordinates at time k.
Further, the reference value ψ of the flux linkage at the d-q coordinate at the time k +1 is calculated by giving the flux linkage calculation module* d(k+1)、ψ* qThe method of (k +1) is: determining the flux linkage reference value psi at the time k +1 according to the formula (10)* sThe (k +1) and the reference value psi of the flux linkage at the time k* s(k) An increment angle Δ δ (k +1) therebetween; then, the reference value psi of the flux linkage at the d-q coordinate at the moment k +1 is obtained according to the formula (11)* d(k+1)、ψ* q(k+1)；
Wherein n ispRepresenting the pole pair number of the permanent magnet synchronous motor; t ise(k) Representing the torque measurement at time k.
Further, the predicted value psi of flux linkage at d-q coordinate at moment k +1 is obtained by the stator flux linkage prediction moduled(k +1) and ψqThe method of (k +1) is:
the first step is as follows: calculating a voltage reference value u under an alpha-beta coordinate system at the moment k +1 according to a formula (12)sα ref(k +1) and usβ ref(k+1)；
Wherein, TsRepresents the sampling period of the system; rsRepresenting the stator resistance;
the second step is that: calculating the k +1 time theta according to the equations (13) and (14)sReference value thetas ref(k+1)；
Order to
Then:
equally dividing the space voltage vector into 12 intervals by taking 30 degrees as intervals, and selecting a large vector, a negative small vector and a medium vector as alternative vectors in each interval; according to thetas refJudging the interval of the reference vector according to the value of (k +1), and then judging the interval of the reference vector according to thetas refThe value of (k +1) judges the section where the reference vector is located;
the third step: the predicted value ψ of the flux linkage at the time point k +1 and the d-q coordinates is obtained from the candidate vector of the section in which the reference vector is located by the equations (15), (16), (17) and (18)d(k +1) and ψq(k+1)；
Wherein u issα(k)、usβ(k) Representing the voltage component at time k in the alpha-beta coordinate; vdc represents the dc bus voltage; sx(i) The inverter switching state is represented, x is a, B and C respectively represent an A phase, a B phase and a C phase; i ═ 1, 2, 3 denotes the selected candidate vector, Sx(i)＝-1，0，1；ud.(k)、uq(k) Representing the voltage component at d-q coordinates at time k; i.e. id(k+1)、iq(k +1) represents a predicted current value at the d-q coordinate at the k +1 moment; i.e. id(k)、iq(k) Representing the current measurement in d-q coordinates at time k.
Further, the method for obtaining the optimal voltage vector by minimizing the cost function and the midpoint potential balance comprises the following steps: firstly, the psi* d(k+1)、ψ* q(k +1) and ψd(k +1) and ψq(k +1) sending the signals into a value function (19) for comparison to select an optimal action vector, if the selected optimal action vector is a small vector, judging whether the small vector is favorable for midpoint potential balance, and if the selected optimal action vector is unfavorable for midpoint potential balance, selecting a corresponding redundant small vector for substitution;
wherein, i ═ {1, 2, 3 }; the method for judging whether the small vector is beneficial to the midpoint potential balance comprises the following steps:
firstly, defining a fluctuation range H allowed by the midpoint potential, detecting the state of the current midpoint potential, if the current midpoint potential is within the fluctuation range allowed by the midpoint potential or is higher than H, indicating that the currently selected negative small vector is favorable for midpoint potential balance, and if the current midpoint potential is lower than-H, indicating that the currently selected negative small vector is unfavorable for midpoint potential balance.
Further, the method for calculating the optimal voltage vector duty ratio under the condition that the predicted value of the flux linkage reaches the reference value at the time k +1 comprises the following steps: obtaining the q-axis flux linkage psi under the action of zero vector according to the formula (20)qSlope S of0(ii) a Then, the q-axis flux linkage psi under the action of the optimal vector is obtained according to the formula (21)qSlope S ofopt(ii) a Finally, the optimal vector duty ratio gamma is obtained according to the formula (22)opt；
Wherein u isq(k)|optRepresenting the component of the optimal voltage vector at the time k on the q axis; psiq refRepresenting the component of the reference flux linkage in the q-axis.
Has the advantages that: the invention is based on the three-level inverter permanent magnet synchronous motor, constructs a cost function taking stator flux linkage as a control variable, avoids the design of weight coefficients, reduces torque pulsation through double-vector action, reduces the number of preferred vectors of the cost function through a partition selection mode, reduces the calculated amount, and considers the balance of midpoint potential.
Drawings
FIG. 1 is a schematic diagram of a bi-vector model predictive flux linkage control of a three-level permanent magnet synchronous motor according to the present invention;
FIG. 2 is a flowchart of flux linkage control predicted by a dual vector model of a three-level permanent magnet synchronous motor according to the present invention;
FIG. 3 is a plot of a three-level space voltage vector profile for a sector selection;
FIG. 4 is a dynamic simulation diagram of flux linkage control predicted by a three-level permanent magnet synchronous motor dual-vector model;
FIG. 5 is a simulation diagram of the midpoint potential balance in flux linkage control predicted by a dual vector model of a three-level permanent magnet synchronous motor.
Detailed Description
The present invention will be described in further detail below by way of examples with reference to the accompanying drawings, which are illustrative of the present invention and are not to be construed as limiting the present invention.
A schematic diagram of a three-level permanent magnet synchronous motor double-vector model prediction flux linkage control method is shown in fig. 1 and comprises a rotating speed loop PI controller module 1, a given flux linkage calculation module 2, a minimum objective function module 3, a midpoint potential balance module 4, a duty ratio output module 5, an inverter module 6, a permanent magnet synchronous motor module 7, an encoder module 8, a stator flux linkage prediction module 9 and a stator flux linkage and torque calculation module 10.
As shown in fig. 2, the method comprises the following steps:
step 1: obtaining a reference torque T according to a rotating speed loop PI controllere ref：
Will refer to the speed
With the actual speed omegarDifference e ofnInputting a rotating speed loop PI controller, and obtaining a reference torque T according to a formula (1)e ref；
Wherein k ispAnd kiRespectively, proportional gain and integral gain of the rotating speed PI controller, and s is a complex variable.
Step 2: obtaining the electrical angle theta of the permanent magnet synchronous motor from the encoderrThen, the electrical angle theta is obtained through the formula (2)rWith respect to the differentiation of time, an electrical angular velocity ω is obtainedr(ii) a Remeasure permanent magnet synchronous motor k moment three-phase stator current ia、ibAnd icObtaining alpha-beta component i of stator current at the moment k after Clark conversion of formula (3)αAnd iβObtaining d-q component i of stator current at the moment k through Park conversion of formula (4)dAnd iq；
And step 3: obtaining a flux linkage measurement psi at time k using a stator flux linkage and torque calculation modules(k) Angle δ (k) to d-axis:
firstly, calculating a k time magnetic linkage measurement value psi in d-q coordinates according to formula (5)sd(k) And psisq(k) (ii) a Then, the k time flux linkage measurement value psi under the alpha-beta coordinate is obtained through the inverse Park transformation of the formula (6)sα(k) And psisβ(k) (ii) a Then, the measured value psi of the magnetic linkage at the k moment is obtained according to the formula (7)s(k) Angle theta with alpha axiss(ii) a Finally, the measured value psi of the flux linkage at the time k can be obtained according to the formula (8)s(k) An included angle delta (k) with the d axis;
δ(k)＝θs-θr (8)
wherein L isd、LqD-q axis inductance components, respectively; psifRepresents a permanent magnet flux linkage;
respectively, the current components at the d-q coordinates at time k.
And 4, step 4: calculating a reference value psi of flux linkage at d-q coordinate at time k +1 by a given flux linkage calculation module* d(k+1)、ψ* q(k+1)：
Firstly, deriving a formula (10) according to a formula (9); then, the flux linkage reference value psi at the time k +1 is obtained according to the formula (10)* sThe (k +1) and the reference value psi of the flux linkage at the time k* s(k) An increment angle Δ δ (k +1) therebetween; then, the reference value psi of the flux linkage at the d-q coordinate at the moment k +1 is obtained according to the formula (11)* d(k+1)、ψ* q(k+1)；
Wherein n ispRepresenting the pole pair number of the permanent magnet synchronous motor; t ise(k) Representing the torque measurement at time k; dTeThe term/d delta denotes the torque T at time ke(k) Derivative of the angle δ (k).
And 5: obtaining a predicted value psi of flux linkage under d-q coordinates at the moment k +1 by a stator flux linkage prediction moduled(k+1)、ψq(k+1)：
The first step is as follows: calculating a voltage reference value u under an alpha-beta coordinate system at the moment k +1 according to a formula (12)sα ref(k +1) and usβ ref(k+1)；
Wherein, TsRepresents the sampling period of the system; rsRepresenting the stator resistance;
the second step is that: calculating the k +1 time theta according to the equations (13) and (14)sReference value thetas ref(k+1)；
Order to
Then:
the space voltage vector is equally divided into 12 intervals by 30 degrees, as shown in fig. 3, the screening process of the alternative vector is further explained by taking the interval 1 as an example, in the interval 1, three zero vectors (000111222), a positive small vector (211) for increasing the midpoint potential, a negative small vector (211) for decreasing the midpoint potential, a middle vector (210) and a large vector (200) are obviously seen, for the zero vector, the vector is used as a second action vector in the double-vector control, therefore, the zero vector can not be considered here, and for the positive small vector, the positive small vector is considered in the subsequent midpoint potential balancing process, and is not considered here, so that the alternative vector is reduced into three vectors, namely a large vector, a negative small vector and a middle vector according to thetas refThe value of (k +1) is used to determine the section where the reference vector is located, and when 0 is found by the formula (14)<θs ref(k+1)<Pi/6 can judge that the reference vector is in the interval 1, if pi/6<θs ref(k+1)<Pi/3 is that the reference vector is in the interval 2, and the position of the reference vector can be judged by analogy;
the third step: the predicted value ψ of the flux linkage at the time point k +1 and the d-q coordinates is obtained from the candidate vector of the section in which the reference vector is located by the equations (15), (16), (17) and (18)d(k +1) and ψq(k+1)；
Wherein u issα(k)、usβ(k) Representing the voltage component at time k in the alpha-beta coordinate; vdc represents the dc bus voltage; sx(i) Indicating the inverter switching state (x ═ a, b, c; i ═ 1, 2, 3), Sx(i)＝-1，0，1；ud.(k)、uq(k) Representing the voltage component at d-q coordinates at time k; i.e. id(k+1)、iq(k +1) represents a predicted current value at the d-q coordinate at the k +1 moment; i.e. id(k)、iq(k) Representing the current measurement in d-q coordinates at time k.
Step 6: obtaining an optimal voltage vector by minimizing a cost function and a midpoint potential balance:
firstly, psi* d(k+1)、ψ* q(k +1) and ψd(k +1) and ψq(k +1) is sent to a cost function (19) to be compared and an optimal action vector is selected, if the selected optimal action vector is a small vector, whether the small vector is favorable for the midpoint potential or not is judgedAnd (4) balancing. Firstly, defining the fluctuation range H allowed by the midpoint potential to be 0.5, wherein the selected candidate small vectors are negative small vectors which can cause the midpoint potential to shift downwards, so that the state of the current midpoint potential is detected, if the current midpoint potential is within the fluctuation range allowed by the midpoint potential or higher than H, the currently selected negative small vectors are favorable for midpoint potential balance, and therefore, the replacement is not performed, and if the current midpoint potential is lower than-H, the currently selected negative small vectors are unfavorable for midpoint potential balance, and corresponding redundant small vectors are required to be selected for replacement;
where, i ═ {1, 2, 3 }.
And 7: calculating the optimal voltage vector duty ratio according to the condition that the predicted value of the flux linkage reaches the reference value at the moment k + 1:
obtaining the q-axis flux linkage psi under the action of zero vector according to the formula (20)qSlope S of0(ii) a Then, the q-axis flux linkage psi under the action of the optimal vector is obtained according to the formula (21)qSlope S ofopt(ii) a Finally, the optimal vector duty ratio gamma is obtained according to the formula (22)opt；
Wherein u isq(k)|optRepresenting the component of the optimal voltage vector at the time k on the q axis; psiq refRepresenting the component of the reference flux linkage in the q-axis.
The method firstly obtains three-phase current i at the moment ka、ib、icElectric angle of rotor thetarAngular velocity ω of rotorrAnd a given torque Te refAnd a reference flux linkage psis ref(ii) a Then calculating load angle increment delta and load angle reference value delta at the moment of k +1refAnd acquires a reference component psi of the flux linkage dq axis at the time k +1* d(k+1)、ψ* q(k +1), judging the position of the reference vector at the moment of k +1 to select the interval; the predicted component ψ of the flux linkage dq axis at time k +1 is then calculatedd(k+1)、ψq(k +1), selecting a cost function g from the cost functionsiA minimum voltage vector; then carrying out neutral point potential balance processing to select an optimal voltage vector; and finally, calculating the duty ratio of the optimal voltage vector, and outputting the inverter switching state corresponding to the optimal voltage vector.
The results of the two-vector model prediction flux linkage control simulation of the three-level permanent magnet synchronous motor are shown in fig. 4 and 5. The left side of the graph 4 is a simulation graph of the rotating speed, the torque and the current of the three-level permanent magnet synchronous motor under the action of a single vector, the right side of the graph is a simulation graph of the rotating speed, the torque and the current of the three-level permanent magnet synchronous motor under the action of double vectors, and the simulation comparison of the single vector and the double vectors shows that the control effect of the double vectors is better and the torque ripple can be effectively reduced. Fig. 5 is a simulation diagram of the midpoint potential suppression, and it can be seen from fig. 5 that the suppression effect on the midpoint potential is significant.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A bi-vector model prediction flux linkage control method of a three-level permanent magnet synchronous motor is characterized by comprising the following steps: firstly, a reference torque T is obtained according to a rotating speed loop PI controllere ref(ii) a Then obtaining the electrical angle theta of the permanent magnet synchronous motor from the encoderrAnd electrical angular velocityωrAnd obtaining three-phase stator current i at the time ka、ibAnd icObtaining alpha-beta component i of stator current at time k through Clark conversionαAnd iβAnd obtaining a d-q component i of the stator current at the moment k after Park conversiondAnd iq(ii) a Then, a stator flux linkage and torque calculation module is used for acquiring a flux linkage measured value psi at the time ks(k) An included angle delta (k) with the d axis; then, a reference value psi of the flux linkage at the d-q coordinate at the moment k +1 is calculated by a given flux linkage calculation module* d(k+1)、ψ* q(k + 1); then, a predicted value psi of flux linkage at d-q coordinate at moment k +1 is obtained through a stator flux linkage prediction moduled(k+1)、ψq(k + 1); then, obtaining an optimal voltage vector by minimizing a cost function and balancing a midpoint potential; finally, calculating the optimal voltage vector duty ratio under the condition that the predicted value of the flux linkage reaches the reference value at the moment k + 1;
wherein the calculating of the reference value ψ of the flux linkage at the d-q coordinate at the time k +1 by the given flux linkage calculating module* d(k+1)、ψ* qThe method of (k +1) is: determining the flux linkage reference value psi at the time k +1 according to the formula (10)* sThe (k +1) and the reference value psi of the flux linkage at the time k* s(k) An increment angle Δ δ (k +1) therebetween; then, the reference value psi of the flux linkage at the d-q coordinate at the moment k +1 is obtained according to the formula (11)* d(k+1)、ψ* q(k+1)；
Wherein n ispRepresenting the pole pair number of the permanent magnet synchronous motor; t ise(k) Representing the torque measurement at time k; l isd、LqD-q axis inductance components, respectively; psifRepresents a permanent magnet flux linkage;
obtaining a predicted value psi of flux linkage at d-q coordinate at moment k +1 by a stator flux linkage prediction moduled(k +1) and ψqThe method of (k +1) is:
the first step is as follows: calculating a voltage reference value u under an alpha-beta coordinate system at the moment k +1 according to a formula (12)sα ref(k +1) and usβ ref(k+1)；
Wherein, TsRepresents the sampling period of the system; rsRepresenting the stator resistance;
the second step is that: calculating the k +1 time theta according to the equations (13) and (14)sReference value thetas ref(k+1)；
Order to
Then:
equally dividing the space voltage vector into 12 intervals by taking 30 degrees as intervals, and selecting a large vector, a negative small vector and a medium vector as alternative vectors in each interval; according to thetas refJudging the interval of the reference vector according to the value of (k +1), and then judging the interval of the reference vector according to thetas refThe value of (k +1) judges the section where the reference vector is located;
the third step: the predicted value ψ of the flux linkage at the time point k +1 and the d-q coordinates is obtained from the candidate vector of the section in which the reference vector is located by the equations (15), (16), (17) and (18)d(k +1) and ψq(k+1)；
Wherein u issα(k)、usβ(k) Representing the voltage component at time k in the alpha-beta coordinate; vdc represents the dc bus voltage; sx(i) The inverter switching state is represented, x is a, B and C respectively represent an A phase, a B phase and a C phase; i ═ 1, 2, 3 denotes the selected candidate vector, Sx(i)＝-1，0，1；ud(k)、uq(k) Representing the voltage component at d-q coordinates at time k; i.e. id(k+1)、iq(k +1) represents a predicted current value at the d-q coordinate at the k +1 moment; i.e. id(k)、iq(k) Representing the current measurement in d-q coordinates at time k.
2. The method of claim 1, wherein the reference speed is used as a reference speed for the bi-vector model predictive flux linkage control of the tri-level PMSM
And electrical angular velocity omegarDifference e ofnAn input rotation speed loop PI controller for obtaining the reference torque T according to the formula (1)e ref；
Wherein k ispAnd kiRespectively, proportional gain and integral gain of the rotating speed PI controller, and s is a complex variable.
3. The method of claim 1, wherein the electrical angle θ of the PMSM is obtained from an encoderrThen, the electrical angle theta is obtained through the formula (2)rWith respect to the differentiation of time, an electrical angular velocity ω is obtainedr(ii) a Remeasure permanent magnet synchronous motor k moment three-phase stator current ia、ibAnd icObtaining alpha-beta component i of stator current at the moment k after Clark conversion of formula (3)αAnd iβObtaining d-q component i of stator current at the moment k through Park conversion of formula (4)dAnd iq；
4. The method of claim 1, wherein the k-time flux linkage measurement value ψ is a measure of flux linkage prediction for the tri-level PMSM using the bi-vector models(k) The method for obtaining the included angle delta (k) between the d axis and the d axis comprises the following steps: firstly, calculating a k time magnetic linkage measurement value psi in d-q coordinates according to formula (5)sd(k) And psisq(k) (ii) a Then, the k time flux linkage measurement value psi under the alpha-beta coordinate is obtained through the inverse Park transformation of the formula (6)sα(k) And psisβ(k) (ii) a According to the formula(7) Solving the measured value psi of the flux linkage at the time ks(k) Angle theta with alpha axiss(ii) a Finally, the measured value psi of the flux linkage at the time k can be obtained according to the formula (8)s(k) An included angle delta (k) with the d axis;
δ(k)＝θs-θr (8)
wherein L isd、LqD-q axis inductance components, respectively; psifRepresents a permanent magnet flux linkage;
respectively, the current components at the d-q coordinates at time k.
5. The method for controlling the flux linkage of the three-level permanent magnet synchronous motor through the double-vector model prediction according to claim 1, wherein the method for obtaining the optimal voltage vector by minimizing the cost function and the midpoint potential balance comprises the following steps: firstly, the psi* d(k+1)、ψ* q(k +1) and ψd(k +1) and ψq(k +1) sending the signals into a value function (19) for comparison to select an optimal action vector, if the selected optimal action vector is a small vector, judging whether the small vector is favorable for midpoint potential balance, and if the selected optimal action vector is unfavorable for midpoint potential balance, selecting a corresponding redundant small vector for substitution;
wherein, i ═ {1, 2, 3 }; the method for judging whether the small vector is beneficial to the midpoint potential balance comprises the following steps:
firstly, defining a fluctuation range H allowed by the midpoint potential, detecting the state of the current midpoint potential, if the current midpoint potential is within the fluctuation range allowed by the midpoint potential or is higher than H, indicating that the currently selected negative small vector is favorable for midpoint potential balance, and if the current midpoint potential is lower than-H, indicating that the currently selected negative small vector is unfavorable for midpoint potential balance.
6. The method for controlling the flux linkage of the three-level permanent magnet synchronous motor through the dual-vector model prediction according to claim 1, wherein the method for calculating the optimal voltage vector duty ratio under the condition that the flux linkage predicted value reaches the reference value at the moment of k +1 comprises the following steps: obtaining the q-axis flux linkage psi under the action of zero vector according to the formula (20)qSlope S of0(ii) a Then, the q-axis flux linkage psi under the action of the optimal vector is obtained according to the formula (21)qSlope S ofopt(ii) a Finally, the optimal vector duty ratio gamma is obtained according to the formula (22)opt；
Wherein u isq(k)|optRepresenting the component of the optimal voltage vector at the time k on the q axis; psiq refRepresents the component of the reference flux linkage in the q-axis; l isd、LqD-q axis inductance components, respectively; psifIndication permanent magnetA magnetic flux linkage of the magnet; rsRepresenting the stator resistance; psiq(k) Representing the q-axis component of the flux linkage at time k.
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